Some progress with new simple math (though still things wrong, e.g. orientation of model)

src/SimpleMath/SimpleMath.h

@@ -163,6 +163,17 @@ struct MatrixBase {
   	return *this;
 	}
 
+	Derived operator*=(const ScalarType& s) {
+		unsigned int i,j;
+		for (i = 0; i < rows(); i++) {
+			for (j = 0; j < cols(); j++) {
+				operator()(i,j) *= s;
+			}
+		}
+
+  	return *this;
+	}
+
 	void set(const ScalarType& v0) {
 		static_assert(cols() * rows() == 1, "Invalid matrix size");
 		data()[0] = v0;
@@ -218,6 +229,12 @@ struct MatrixBase {
 	}
 
 	operator ScalarType() const {
+#ifndef NDEBUG
+		std::cout << "Error trying to cast to scalar type. Dimensions are: "
+			<< static_cast<const Derived*>(this)->rows() << ", "  
+			<< static_cast<const Derived*>(this)->cols() << "."  
+			<< std::endl;
+#endif
 		assert ( static_cast<const Derived*>(this)->cols() == 1
 				&& static_cast<const Derived*>(this)->rows() == 1);
 		return static_cast<const Derived*>(this)->operator()(0,0);
@@ -227,11 +244,11 @@ struct MatrixBase {
 	// Numerical functions
 	//
 
-	// TODO: separate functions for float or double matrices	
+	// TODO: separate functions for float or ScalarType matrices	
-	double dot(const Derived& other) const {
+	ScalarType dot(const Derived& other) const {
 		assert ((rows() == 1 || cols() == 1) && (other.rows() == 1 || other.cols() == 1));
 
-		double result = 0.0;
+		ScalarType result = 0.0;
 
 		size_t n = rows() * cols();
 		for (size_t i = 0; i < n; ++i) {
@@ -241,9 +258,9 @@ struct MatrixBase {
 		return result;
 	}
 
-	// TODO: separate functions for float or double matrices	
+	// TODO: separate functions for float or ScalarType matrices	
-	double squaredNorm() const {
+	ScalarType squaredNorm() const {
-		double result = 0.0;
+		ScalarType result = static_cast<ScalarType>(0.0);
 
 		size_t nr = rows();
 		size_t nc = cols();
@@ -256,34 +273,25 @@ struct MatrixBase {
 		return result;
 	}
 
-	// TODO: separate functions for float or double matrices	
+	// TODO: separate functions for float or ScalarType matrices	
-	double norm() const {
+	ScalarType norm() const {
-		return std::sqrt(squaredNorm());
+		return static_cast<ScalarType>(std::sqrt(squaredNorm()));
 	}
 	
-	// TODO: separate functions for float or double matrices	
+	// TODO: separate functions for float or ScalarType matrices	
 	Derived normalized() const {
-		Derived result (rows(), cols());
+		Derived result (*this);
 
-		double norm = squaredNorm();
+		ScalarType length = this->norm();
-		unsigned int i,j;
+
-		for (i = 0; i < rows(); i++) {
+		return result / length;
-			for (j = 0; j < cols(); j++) {
-				result (i,j) = operator()(i,j) / norm;
-			}
-		}
-		return result;
 	}
 
-	// TODO: separate functions for float or double matrices	
+	// TODO: separate functions for float or ScalarType matrices	
 	Derived normalize() {
-		double norm = squaredNorm();
+		ScalarType length = norm();
-		unsigned int i,j;
+
-		for (i = 0; i < rows(); i++) {
+		*this *= static_cast<ScalarType>(1.0) / length;
-			for (j = 0; j < cols(); j++) {
-				operator() (i,j) /= norm;
-			}
-		}
 
 		return *this;
 	}
@@ -291,7 +299,7 @@ struct MatrixBase {
 	Derived cross(const Derived& other) const {
 		assert(cols() * rows() == 3);
 		
-		Derived result(cols(), rows());
+		Derived result(rows(), cols());
 		result[0] = operator[](1) * other[2] - operator[](2) * other[1];
 		result[1] = operator[](2) * other[0] - operator[](0) * other[2];
 		result[2] = operator[](0) * other[1] - operator[](1) * other[0];
@@ -453,6 +461,13 @@ struct Storage {
 
     void resize(int num_rows, int num_cols) {
 			// Resizing of fixed size matrices not allowed
+#ifndef NDEBUG
+			if (num_rows != NumRows || num_cols != NumCols) {
+				std::cout << "Error: trying to resize fixed matrix from " 
+					<< NumRows << ", " << NumCols << " to "
+					<< num_rows << ", " << num_cols << "." << std::endl;
+			}
+#endif
 			assert (num_rows == NumRows && num_cols == NumCols);
     }
 
@@ -1090,6 +1105,8 @@ public:
 				x[i] = z / mR(i,i);
 			}
 
+			assert (!std::isnan(x.squaredNorm()));
+
 			return x;
 		}
     Derived inverse() const {
@@ -1235,7 +1252,7 @@ public:
 				MatrixXXd Q (MatrixXXd::Identity(mR.rows(), mR.rows()));
 
 				Q.block(i, i, block_rows, block_rows) = MatrixXXd (Q.block(i, i, block_rows, block_rows))
-                                                    - MatrixXXd(v * v.transpose() / (v.squaredNorm() * static_cast<value_type>(0.5)));
+					- (v * v.transpose()) / (v.squaredNorm() * static_cast<value_type>(0.5));
 
 				mR = Q * mR;
 
@@ -1274,6 +1291,8 @@ public:
 			x[mPermutations[i]] = z / mR(i,i);
 		}
 
+		assert (!std::isnan(x.squaredNorm()));
+
 		return x;
 	}
     Derived inverse() const {

src/math_types.h

@@ -1,6 +1,8 @@
 #ifndef MESHUP_CONFIG_H
 #define MESHUP_CONFIG_H
 
+#define NEW_SIMPLE_MATH
+
 #ifdef NEW_SIMPLE_MATH
 
 #include "SimpleMath/SimpleMath.h"

src/modules/RenderModule.cc

@@ -699,6 +699,19 @@ void Renderer::RenderGl() {
 	gVertexArray.Bind();
 	gXZPlaneGrid.Draw(GL_LINES);
 
+	if (!mIsSSAOEnabled) {
+		// Clear the SSAO Blur target
+		mSSAOBlurTarget.Bind();
+		glViewport(0, 0, mCamera.mWidth, mCamera.mHeight);
+		GLenum draw_attachment_0[] = {GL_COLOR_ATTACHMENT0 };
+		glDrawBuffers(1, draw_attachment_0);
+		glClearColor(255, 255, 255, 255);
+		glClear(GL_COLOR_BUFFER_BIT);
+		glDisable(GL_DEPTH_TEST);
+		gVertexArray.Bind();
+		gScreenQuad.Draw(GL_TRIANGLES);
+	}
+
 	// Scene
 	glUseProgram(program->mProgramId);
 
@@ -759,17 +772,7 @@ void Renderer::RenderGl() {
 		mBlurSSAOProgram.SetInt("uAmbientOcclusion", 0);
 		mBlurSSAOProgram.SetInt("uBlurSize", mSSAOBlurSize);
 
-		gScreenQuad.Draw(GL_TRIANGLES);
+		gVertexArray.Bind();
-	}
-
-	if (!mIsSSAOEnabled) {
-		mSSAOBlurTarget.Bind();
-		glViewport(0, 0, mCamera.mWidth, mCamera.mHeight);
-		GLenum draw_attachment_0[] = {GL_COLOR_ATTACHMENT0 };
-		glDrawBuffers(1, draw_attachment_0);
-		glClearColor(255, 255, 255, 255);
-		glClear(GL_COLOR_BUFFER_BIT);
-		glDisable(GL_DEPTH_TEST);
 		gScreenQuad.Draw(GL_TRIANGLES);
 	}
 

src/modules/RenderUtils.cc

@@ -302,6 +302,10 @@ void RenderTarget::Bind() {
 		buffers[num_buffers++] = GL_COLOR_ATTACHMENT0;
 	}
 
+	if (mFlags & EnableNormalTexture) {
+		buffers[num_buffers++] = GL_COLOR_ATTACHMENT1;
+	}
+
 	if (mFlags & EnablePositionTexture ) {
 		buffers[num_buffers++] = GL_COLOR_ATTACHMENT2;
 	}
@@ -490,7 +494,7 @@ void RenderTarget::RenderToLinearizedDepth(const float& near, const float& far,
 	mQuadMesh->Draw(GL_TRIANGLES);
 
 	if (mFlags & EnableColor) {
-		GLenum draw_attachment_0[] = { GL_COLOR_ATTACHMENT1 };
+		GLenum draw_attachment_0[] = { GL_COLOR_ATTACHMENT0 };
 		glDrawBuffers(1, draw_attachment_0);
 		glEnable(GL_DEPTH_TEST);
 	}